controller_interface_params.hpp

// Copyright 2025 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_PARAMS_HPP_
#define CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_PARAMS_HPP_
 
#include <string>
#include <unordered_map>
 
#include "joint_limits/joint_limits.hpp"
#include "rclcpp/node_options.hpp"
 
namespace controller_interface
{
 
struct ControllerInterfaceParams
{
  ControllerInterfaceParams() = default;
 
  std::string controller_name = "";
  std::string robot_description = "";
  unsigned int update_rate = 0;
  unsigned int controller_manager_update_rate = 0;
 
  std::string node_namespace = "";
  rclcpp::NodeOptions node_options = rclcpp::NodeOptions();
 
  std::unordered_map<std::string, joint_limits::JointLimits> hard_joint_limits = {};
  std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_joint_limits = {};
};
 
}  // namespace controller_interface
 
#endif  // CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_PARAMS_HPP_